基于Google Glass的远程解放双手式机器人控制系统

发布时间：2018-03-28 00:29

本文选题：人机交互　切入点：解放双手　出处：《电子测量与仪器学报》2017年05期

【摘要】：随着人机交互技术的发展,解放双手的技术也日益繁荣。在面对复杂任务时,解放双手的技术提供了新的交互渠道,丰富了交互信号的来源。利用Google Glass穿戴式的特点,搭建了一个解放双手的移动机器人远程控制系统。该系统运用互补滤波器融合加速度传感器、陀螺仪以及地磁传感器的测量数据检测操作者的头部运动,并根据设计的控制器解析操作者的控制意图,然后经WiFi传送给被控机器人。同时,运用互补滤波器的高通滤波器成分成功地抑制了头部参考位置的漂移。为了验证系统的灵活性和可靠性,对其进行避障实验测试。实验结果表明,操作者能够流畅地控制机器人完成任务,成功地从任务中解放出双手,为遥控移动机器人提供了新的方式。此外,这一解放双手的系统对双手残疾者也大有益处。
[Abstract]:With the development of human-computer interaction technology, the technology of freeing hands is becoming more and more prosperous. In the face of complex tasks, the technology of liberating hands provides a new channel of interaction, enriches the source of interactive signals, and makes use of the wearable characteristics of Google Glass. A mobile robot remote control system with free hands is built. The system uses complementary filter to measure the head motion of the operator by combining the measurement data of acceleration sensor, gyroscope and geomagnetic sensor. According to the controller designed, the control intention of the operator is analyzed, and then transmitted to the controlled robot via WiFi. At the same time, In order to verify the flexibility and reliability of the system, an obstacle avoidance test is carried out. The experimental results show that the proposed method is effective in reducing the drift of the head reference position by using the high pass filter component of the complementary filter. The operator can smoothly control the robot to complete the task, successfully liberating the hands from the task, providing a new way for the remote-controlled mobile robot. In addition, the system of freeing the hands is of great benefit to the disabled with both hands.
【作者单位】：天津大学电气与自动化工程学院;中国科学院沈阳自动化研究所;加州立大学贝克斯菲尔德分校;清华大学计算机科学与技术系;
【基金】：国家自然科学基金(61473207)资助项目
【分类号】：TP242

【参考文献】